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<div class="title">box_clipper3D.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#define PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/box_clipper3D.h&gt;</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a660793521d329da184d9b3bd8703db8f">   41</a></span>&#160;<a class="code" href="classpcl_1_1_box_clipper3_d.html#a660793521d329da184d9b3bd8703db8f">pcl::BoxClipper3D&lt;PointT&gt;::BoxClipper3D</a> (<span class="keyword">const</span> Eigen::Affine3f&amp; transformation)</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;: transformation_ (transformation)</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="comment">//inverse_transformation_ = transformation_.inverse ();</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;}</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a794ccb4a83e5543bb7674743fd454deb">   49</a></span>&#160;<a class="code" href="classpcl_1_1_box_clipper3_d.html#a660793521d329da184d9b3bd8703db8f">pcl::BoxClipper3D&lt;PointT&gt;::BoxClipper3D</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; rodrigues, <span class="keyword">const</span> Eigen::Vector3f&amp; translation, <span class="keyword">const</span> Eigen::Vector3f&amp; box_size)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  setTransformation (rodrigues, translation, box_size);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;}</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a647b5f26499e33448130492e67c885fb">   56</a></span>&#160;<a class="code" href="classpcl_1_1_box_clipper3_d.html#a647b5f26499e33448130492e67c885fb">pcl::BoxClipper3D&lt;PointT&gt;::~BoxClipper3D</a> () throw ()</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;}</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a86e976f18ec28b4f795ca09a5d0651f3">   62</a></span>&#160;<a class="code" href="classpcl_1_1_box_clipper3_d.html#a86e976f18ec28b4f795ca09a5d0651f3">pcl::BoxClipper3D&lt;PointT&gt;::setTransformation</a> (<span class="keyword">const</span> Eigen::Affine3f&amp; transformation)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;{</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  transformation_ = transformation;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="comment">//inverse_transformation_ = transformation_.inverse ();</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a9ac1057cc5306b60c63d06d42b507957">   70</a></span>&#160;<a class="code" href="classpcl_1_1_box_clipper3_d.html#a86e976f18ec28b4f795ca09a5d0651f3">pcl::BoxClipper3D&lt;PointT&gt;::setTransformation</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; rodrigues, <span class="keyword">const</span> Eigen::Vector3f&amp; translation, <span class="keyword">const</span> Eigen::Vector3f&amp; box_size)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;{</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  transformation_ = Eigen::Translation3f (translation) * Eigen::AngleAxisf(rodrigues.norm (), rodrigues.normalized ()) * Eigen::Scaling (box_size);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="comment">//inverse_transformation_ = transformation_.inverse ();</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;}</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <a class="code" href="classpcl_1_1_clipper3_d.html">pcl::Clipper3D&lt;PointT&gt;</a>*</div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a0a66f05a65b05fecb59b159b448ccd34">   78</a></span>&#160;<a class="code" href="classpcl_1_1_box_clipper3_d.html#a0a66f05a65b05fecb59b159b448ccd34">pcl::BoxClipper3D&lt;PointT&gt;::clone</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classpcl_1_1_box_clipper3_d.html">BoxClipper3D&lt;PointT&gt;</a> (transformation_);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<a class="code" href="classpcl_1_1_box_clipper3_d.html">pcl::BoxClipper3D&lt;PointT&gt;::transformPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; pointIn, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; pointOut)<span class="keyword"> const</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keyword">const</span> Eigen::Vector4f&amp; point = pointIn.getVector4fMap ();</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  pointOut.getVector4fMap () = transformation_ * point;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="comment">// homogeneous value might not be 1</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">if</span> (point [3] != 1)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="comment">// homogeneous component might be uninitialized -&gt; invalid</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordflow">if</span> (point [3] != 0)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      pointOut.x += (1 - point [3]) * transformation_.data () [ 9];</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      pointOut.y += (1 - point [3]) * transformation_.data () [10];</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      pointOut.z += (1 - point [3]) * transformation_.data () [11];</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      pointOut.x += transformation_.data () [ 9];</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      pointOut.y += transformation_.data () [10];</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      pointOut.z += transformation_.data () [11];</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="comment">// ToDo use product on point.getVector3fMap () and transformatio_.col (i) to use the SSE advantages of eigen</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a896d75857dabe5a22bece090c466498e">  112</a></span>&#160;<a class="code" href="classpcl_1_1_box_clipper3_d.html#a896d75857dabe5a22bece090c466498e">pcl::BoxClipper3D&lt;PointT&gt;::clipPoint3D</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordflow">return</span>  (fabs(transformation_.data () [ 0] * point.x +</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                transformation_.data () [ 3] * point.y +</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                transformation_.data () [ 6] * point.z +</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                transformation_.data () [ 9]) &lt;= 1 &amp;&amp;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;           fabs(transformation_.data () [ 1] * point.x +</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                transformation_.data () [ 4] * point.y +</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                transformation_.data () [ 7] * point.z +</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                transformation_.data () [10]) &lt;= 1 &amp;&amp;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;           fabs(transformation_.data () [ 2] * point.x +</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                transformation_.data () [ 5] * point.y +</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                transformation_.data () [ 8] * point.z +</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                transformation_.data () [11]) &lt;= 1 );</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#ac78cc2483ab77c4e4425c8ac98c9af0d">  133</a></span>&#160;<a class="code" href="classpcl_1_1_box_clipper3_d.html#ac78cc2483ab77c4e4425c8ac98c9af0d">pcl::BoxClipper3D&lt;PointT&gt;::clipLineSegment3D</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point1, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="comment">/*</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="comment">  PointT pt1, pt2;</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="comment">  transformPoint (point1, pt1);</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">  transformPoint (point2, pt2);</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">  //</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="comment">  bool pt1InBox = (fabs(pt1.x) &lt;= 1.0 &amp;&amp; fabs (pt1.y) &lt;= 1.0 &amp;&amp; fabs (pt1.z) &lt;= 1.0);</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="comment">  bool pt2InBox = (fabs(pt2.x) &lt;= 1.0 &amp;&amp; fabs (pt2.y) &lt;= 1.0 &amp;&amp; fabs (pt2.z) &lt;= 1.0);</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="comment">  // one is outside the other one inside the box</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="comment">  //if (pt1InBox ^ pt2InBox)</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="comment">  if (pt1InBox &amp;&amp; !pt2InBox)</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="comment">    PointT diff;</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="comment">    PointT lambda;</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="comment">    diff.getVector3fMap () = pt2.getVector3fMap () - pt1.getVector3fMap ();</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="comment">    if (diff.x &gt; 0)</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="comment">      lambda.x = (1.0 - pt1.x) / diff.x;</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="comment">    else</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="comment">      lambda.x = (-1.0 - pt1.x) / diff.x;</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="comment">    if (diff.y &gt; 0)</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="comment">      lambda.y = (1.0 - pt1.y) / diff.y;</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="comment">    else</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="comment">      lambda.y = (-1.0 - pt1.y) / diff.y;</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="comment">    if (diff.z &gt; 0)</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="comment">      lambda.z = (1.0 - pt1.z) / diff.z;</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="comment">    else</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="comment">      lambda.z = (-1.0 - pt1.z) / diff.z;</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="comment">    pt2 = pt1 + std::min(std::min(lambda.x, lambda.y), lambda.z) * diff;</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="comment">    // inverse transformation</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment">    inverseTransformPoint (pt2, point2);</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment">    return true;</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="comment">  else if (!pt1InBox &amp;&amp; pt2InBox)</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment">    return true;</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="comment">  */</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;}</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a68de4d659f59f6e1270abf91d1bfa8c6">  186</a></span>&#160;<a class="code" href="classpcl_1_1_box_clipper3_d.html#a1d233f1cc0b5e96757aa6bde4febeec7">pcl::BoxClipper3D&lt;PointT&gt;::clipPlanarPolygon3D</a> (<span class="keyword">const</span> std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt;PointT&gt; &gt;&amp; polygon, std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt;PointT&gt; &gt;&amp; clipped_polygon)<span class="keyword"> const</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="comment">// not implemented -&gt; clip everything</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  clipped_polygon.clear ();</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;}</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a1d233f1cc0b5e96757aa6bde4febeec7">  197</a></span>&#160;<a class="code" href="classpcl_1_1_box_clipper3_d.html#a1d233f1cc0b5e96757aa6bde4febeec7">pcl::BoxClipper3D&lt;PointT&gt;::clipPlanarPolygon3D</a> (std::vector&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, Eigen::aligned_allocator&lt;PointT&gt; &gt;&amp; polygon)<span class="keyword"> const</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="comment">// not implemented -&gt; clip everything</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  polygon.clear ();</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;}</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="comment">// /ToDo: write fast version using eigen map and single matrix vector multiplication, that uses advantages of eigens SSE operations.</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classpcl_1_1_box_clipper3_d.html#a5e33e10283ccc0b095abbbd60a8c2ad9">  206</a></span>&#160;<a class="code" href="classpcl_1_1_box_clipper3_d.html#a5e33e10283ccc0b095abbbd60a8c2ad9">pcl::BoxClipper3D&lt;PointT&gt;::clipPointCloud3D</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>&amp; cloud_in, std::vector&lt;int&gt;&amp; clipped, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices)<span class="keyword"> const</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="keywordflow">if</span> (indices.empty ())</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    clipped.reserve (cloud_in.size ());</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">register</span> <span class="keywordtype">unsigned</span> pIdx = 0; pIdx &lt; cloud_in.size (); ++pIdx)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keywordflow">if</span> (clipPoint3D (cloud_in[pIdx]))</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        clipped.push_back (pIdx);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator iIt = indices.begin (); iIt != indices.end (); ++iIt)</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keywordflow">if</span> (clipPoint3D (cloud_in[*iIt]))</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        clipped.push_back (*iIt);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;}</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//PCL_FILTERS_IMPL_BOX_CLIPPER3D_HPP</span></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html">pcl::BoxClipper3D</a></div><div class="ttdoc">Implementation of a box clipper in 3D. Actually it allows affine transformations, thus any parallelep...</div><div class="ttdef"><b>Definition:</b> box_clipper3D.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a0a66f05a65b05fecb59b159b448ccd34"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a0a66f05a65b05fecb59b159b448ccd34">pcl::BoxClipper3D::clone</a></div><div class="ttdeci">virtual Clipper3D&lt; PointT &gt; * clone() const</div><div class="ttdoc">polymorphic method to clone the underlying clipper with its parameters.</div><div class="ttdef"><b>Definition:</b> box_clipper3D.hpp:78</div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a1d233f1cc0b5e96757aa6bde4febeec7"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a1d233f1cc0b5e96757aa6bde4febeec7">pcl::BoxClipper3D::clipPlanarPolygon3D</a></div><div class="ttdeci">virtual void clipPlanarPolygon3D(std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; &amp;polygon) const</div><div class="ttdef"><b>Definition:</b> box_clipper3D.hpp:197</div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a5e33e10283ccc0b095abbbd60a8c2ad9"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a5e33e10283ccc0b095abbbd60a8c2ad9">pcl::BoxClipper3D::clipPointCloud3D</a></div><div class="ttdeci">virtual void clipPointCloud3D(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, std::vector&lt; int &gt; &amp;clipped, const std::vector&lt; int &gt; &amp;indices=std::vector&lt; int &gt;()) const</div><div class="ttdoc">interface to clip a point cloud</div><div class="ttdef"><b>Definition:</b> box_clipper3D.hpp:206</div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a647b5f26499e33448130492e67c885fb"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a647b5f26499e33448130492e67c885fb">pcl::BoxClipper3D::~BoxClipper3D</a></div><div class="ttdeci">virtual ~BoxClipper3D()</div><div class="ttdoc">virtual destructor</div><div class="ttdef"><b>Definition:</b> box_clipper3D.hpp:56</div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a660793521d329da184d9b3bd8703db8f"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a660793521d329da184d9b3bd8703db8f">pcl::BoxClipper3D::BoxClipper3D</a></div><div class="ttdeci">BoxClipper3D(const Eigen::Affine3f &amp;transformation)</div><div class="ttdoc">Constructor taking an affine transformation matrix, which allows also shearing of the clipping area</div><div class="ttdef"><b>Definition:</b> box_clipper3D.hpp:41</div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a86e976f18ec28b4f795ca09a5d0651f3"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a86e976f18ec28b4f795ca09a5d0651f3">pcl::BoxClipper3D::setTransformation</a></div><div class="ttdeci">void setTransformation(const Eigen::Affine3f &amp;transformation)</div><div class="ttdoc">Set the affine transformation</div><div class="ttdef"><b>Definition:</b> box_clipper3D.hpp:62</div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_a896d75857dabe5a22bece090c466498e"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#a896d75857dabe5a22bece090c466498e">pcl::BoxClipper3D::clipPoint3D</a></div><div class="ttdeci">virtual bool clipPoint3D(const PointT &amp;point) const</div><div class="ttdoc">interface to clip a single point</div><div class="ttdef"><b>Definition:</b> box_clipper3D.hpp:112</div></div>
<div class="ttc" id="aclasspcl_1_1_box_clipper3_d_html_ac78cc2483ab77c4e4425c8ac98c9af0d"><div class="ttname"><a href="classpcl_1_1_box_clipper3_d.html#ac78cc2483ab77c4e4425c8ac98c9af0d">pcl::BoxClipper3D::clipLineSegment3D</a></div><div class="ttdeci">virtual bool clipLineSegment3D(PointT &amp;from, PointT &amp;to) const</div><div class="ttdef"><b>Definition:</b> box_clipper3D.hpp:133</div></div>
<div class="ttc" id="aclasspcl_1_1_clipper3_d_html"><div class="ttname"><a href="classpcl_1_1_clipper3_d.html">pcl::Clipper3D</a></div><div class="ttdoc">Base class for 3D clipper objects</div><div class="ttdef"><b>Definition:</b> clipper3D.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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